CN106828915A - A kind of tilted propeller can VTOL high-speed aircraft and its flight control method - Google Patents

A kind of tilted propeller can VTOL high-speed aircraft and its flight control method Download PDF

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Publication number
CN106828915A
CN106828915A CN201710152468.6A CN201710152468A CN106828915A CN 106828915 A CN106828915 A CN 106828915A CN 201710152468 A CN201710152468 A CN 201710152468A CN 106828915 A CN106828915 A CN 106828915A
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China
Prior art keywords
aircraft
tail
rotor
propeller
tilted
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CN201710152468.6A
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Chinese (zh)
Inventor
邓阳平
田力
高正红
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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Priority to CN201710152468.6A priority Critical patent/CN106828915A/en
Publication of CN106828915A publication Critical patent/CN106828915A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C11/00Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
    • B64C11/30Blade pitch-changing mechanisms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/22Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/52Tilting of rotor bodily relative to fuselage
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/82Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C9/00Adjustable control surfaces or members, e.g. rudders
    • B64C9/12Adjustable control surfaces or members, e.g. rudders surfaces of different type or function being simultaneously adjusted
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/82Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
    • B64C2027/8209Electrically driven tail rotors

Abstract

The present invention propose a kind of tilted propeller can VTOL high-speed aircraft and its flight control method, high-speed aircraft fuselage head is provided with canard, and the forward position of afterbody is provided with wing, and vertical fin is installed on afterbody top;Tilted propeller is arranged on arm outer end of verting;Two arms that vert are symmetrically mounted on the forward position both sides of waist, and the arm that verts can vert together with tilted propeller around arm axle line locking of verting;Tail-rotor is arranged on afterbody, is driven using separate electrical motor, and tail-rotor can be around fuselage datum deflection.Tilted propeller of the present invention is arranged on the waist position between canard and sweepforward host wing, in the VTOL stage, propeller downwash flow is without flow through any fixed aerofoil, do not block, on the one hand the hovering efficiency of full machine can be improved, on the other hand the aerodynamic interference between propeller downwash flow during verting and fixed aerofoil is also small, the smooth transition flown before being capable of achieving aircraft from VTOL to high speed, also reduces conversion flight control difficulty.

Description

A kind of tilted propeller can VTOL high-speed aircraft and its flight control method
Technical field
The present invention relates to aviation aircraft technical field, specially a kind of tilted propeller can VTOL high-speed flight Device and its flight control method.
Background technology
U.S. V-22 " osprey " aircraft is a kind of typical tilt rotor aircraft, and the major diameter rotor of its wing both sides is hanging down Pull-up aircraft during straight landing, while auto-bank unit manipulates rotor disk change control aircraft carries out pitching, rolling and driftage fortune It is dynamic;Rotor is tilted forward with certain speed after taking off vertically, and aircraft accelerates, and last aircraft is changed into the propeller that both sides rotor is pulled Fixed wing aircraft carries out high-speed flight.Tiltrotor is turned to using rotor and used as propeller, improves the flight of helicopter Speed, is to develop to obtain high-speed helicopter the most ripe so far, and " osprey " aircraft also has been enter into United States Forces' military service.But It is that " osprey " aircraft is not flawless, the important shortcoming of one is that rotor is arranged in wing two ends, in VTOL rank Section wing forms larger area and blocks to rotor downwash, reduces the hovering efficiency of aircraft;In addition verted in rotor During, complicated aerodynamic interference has also heightened the difficulty of process flight control of verting between rotor downwash and wing.Pin To this shortcoming of " osprey ", also there is engineer to propose to be designed to together be verted with rotor by the outer section of wing, reduce under rotor Gas washing stream is blocked, but this design can improve the hovering efficiency of aircraft, but does not reduce pneumatic dry during verting Disturb, and the part that verts increases the increase that will also result in inclining rotary mechanism weight.
The content of the invention
To solve the problems, such as prior art, there is provided a kind of tilted propeller with the interference of low rotorwash can be vertical The high-speed aircraft of landing, the present invention propose a kind of tilted propeller can VTOL high-speed aircraft and its flight controlling party Method.
The technical scheme is that:
A kind of tilted propeller can VTOL high-speed aircraft, including fuselage, wing, vertical fin, peace in fuselage Equipped with engine and transmission system;It is characterized in that:Fuselage head is provided with canard, and canard is arranged using lower single-blade, with preceding Edge angle of sweep;The forward position of afterbody is provided with wing, and wing is arranged and with leading edge sweepforward angle using high mounted wing;Vertical fin is pacified Loaded on afterbody top, with leading edge sweep;
The high-speed aircraft also includes two arms that vert, two tilted propellers and a tail-rotors;The arm that verts is to incline The supporting mechanism of rotating propeller, tilted propeller is arranged on arm outer end of verting;Arm section vert for spindle, arm lengths of verting are big In the radius of tilted propeller, axis is parallel with body axis system OY axles, and it is forward that two arms that vert are symmetrically mounted on waist Position both sides, between canard and wing, the arm that verts can vert together with tilted propeller around arm axle line locking of verting;Two Can tilted propeller can be counter-rotation through transmission system drives by engine, tail-rotor be arranged on afterbody, using independent electricity Machine drives, and tail-rotor rotation axis is parallel with body axis system OYZ planes, produces upward pulling force, and tail-rotor can be vertical around fuselage Axle deflection.
Further preferred scheme, a kind of tilted propeller can VTOL high-speed aircraft, it is characterised in that: The fuselage cross-section is the square of four rounding of angle, and fuselage head and afterbody shrink to form nose cone and tail cone.
A kind of tilted propeller can VTOL high-speed aircraft control method, it is characterised in that:
When taking off, can tilted propeller be tilted to Plane of rotation and body axis system OXY plane parallel positions, tail-rotor In Plane of rotation and body axis system OXY plane parallel positions, engine driving can tilted propeller rotation, motor driving tail Oar rotates, can tilted propeller and tail-rotor produce pulling force needed for VTOL, aircraft vertical to take off;
In take-off process, by change both sides can tilted propeller pitch, formed pulling force difference and around the rolling of center of gravity Torque, carries out the rolling control of aircraft;By changing the pitch of tail-rotor, realize changing the upward pulling force of tail-rotor generation and around center of gravity Pitching moment size, carry out the pitch control of aircraft;Deflected around fuselage datum by by tail-rotor, form horizontal component, carried out The driftage control of aircraft;
After aircraft is liftoff reaches safe altitude, control can tilted propeller tilt forward, form horizontal pull forward, Aircraft starts flight forward, and canard and wing produce lift, into transfer process;With can tilted propeller tilt forward angle Increase, horizontal pull increase forward, the increase of aircraft forward flight speed, canard and wing produce lift increase;When aircraft accelerates to reach To and more than after conversion speed, transfer process is completed, and can tilted propeller be tilted to Plane of rotation and put down with body axis system OYZ Face is parallel, and the pulling force of horizontal flight, tail-rotor stalling, into fixed-wing offline mode, by canard, wing and vertical fin are provided completely On control rudder face carry out aspect control;
When aircraft needs landing, control can tilted propeller reduction forward flight speed, when forward flight speed, to be reduced to certain big When the setting value of conversion speed, tail-rotor start rotation, control can tilted propeller vert upwards, forward flight speed further drops It is low, by canard and airfoil lift, can tilted propeller pulling force upward component and tail-rotor pulling force keep aircraft vertical direction to draw Power;When can tilted propeller vert to Plane of rotation and body axis system OXY plane parallel positions, forward flight speed is reduced to 0, enters Enter the vertical landing stage;
In the vertical landing stage, by change both sides can tilted propeller pitch, form pulling force difference and around the rolling of center of gravity Torque, carries out the rolling control of aircraft;By changing the pitch of tail-rotor, realize changing the upward pulling force of tail-rotor generation and around weight The pitching moment size of the heart, carries out the pitch control of aircraft;Deflected around fuselage datum by by tail-rotor, form horizontal component, entered The driftage control of row aircraft.
Beneficial effect
A kind of tilted propeller proposed by the present invention can VTOL high-speed aircraft, compared to U.S.'s V-22 types Tiltrotor, because the tilted propeller for providing main lift and pulling force is arranged in the fuselage between canard and sweepforward host wing Portion position, in the VTOL stage, propeller downwash flow is not blocked without flow through any fixed aerofoil, and this aspect can be with The hovering efficiency of full machine is improved, on the other hand the aerodynamic interference between propeller downwash flow during verting and fixed aerofoil Also smooth transition that is small, flying before being capable of achieving aircraft from VTOL to high speed, also reduces conversion flight control difficulty.
Additionally, the spiral that can vert only needs to carry out always adjusted away from change in the VTOL stage carries out flight control process Pulling force size, and without carrying out vertical and horizontal feathering regulation as rotor, control structure is compared to relatively simple.Using Tail-rotor and propeller provide VTOL pulling force jointly, and center of gravity is located between propeller and tail-rotor, and center of gravity mobile range is gone straight up to Machine and tiltrotor are also big, so as to facilitate fuselage load arrangement.
Additional aspect of the invention and advantage will be set forth in part in the description, and will partly become from the following description Obtain substantially, or recognized by practice of the invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from description of the accompanying drawings below to embodiment is combined Substantially and be readily appreciated that, wherein:
Fig. 1:The structural perspective of VTOL state of the present invention
Fig. 2:The structural perspective of winged state preceding at a high speed of the invention
Wherein:1st, canard;2nd, fuselage;3rd, tilted propeller;4th, wing;5th, deflectable tail-rotor;6th, vertical tail;7th, vert Arm.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached It is exemplary to scheme the embodiment of description, it is intended to for explaining the present invention, and be not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward ", " up time The orientation or position relationship of the instruction such as pin ", " counterclockwise " are, based on orientation shown in the drawings or position relationship, to be for only for ease of The description present invention is described with simplified, must have specific orientation, Yi Te rather than the device or element for indicating or imply meaning Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
The present embodiment be a frame tilted propeller can VTOL high-speed unmanned aerial vehicle, the design maximum take-off weight of aircraft It is 340kg, it is the turbo oar engine of 100kw to use a peak power;The conversion speed for setting is 50m/s, transition status Flying height is 500m.The tilted propeller can VTOL high-speed aircraft, using canard forward-swept-wing configuration, including duck The wing, wing, fuselage, vertical fin, the arm that verts, can tilted propeller and deflectable tail-rotor.
Fuselage cross-section is the square of four rounding of angle, and head and afterbody shrink to form more sharp nose cone and tail cone, to subtract Small flight resistance.Turboshaft engine, operating mechanism, fuel oil box, mission payload and necessary flight instrumentation are installed in fuselage to set Standby etc., fuselage length is 4.5m, and Breadth Maximum is 0.6m, and maximum height is 0.5m.
Canard is installed on fuselage head, forms lower single-blade arrangement, and trailing edge is disposed with elevator, and the span is 2.5m, root chord length 0.48m, slightly chord length 0.24m, leading edge sweep are 10.8 °, and the upper counterangle is 0 °, and torsion angle is 0 °.
Wing is installed on the forward position of afterbody, high mounted wing arrangement is formed, when being aircraft fixed-wing mode flight Mainpiston, span 6m, slightly root chord length 0.9m, chord length 0.42m, leading edge sweepforward angle are 8 °, and the upper counterangle is 0 °, and torsion angle is 0 °, Ending arranges the aileron by carrying out rolling control.
The wing that hangs down is arranged on fuselage afterbody top, mainly plays course stability action, wing root chord length 0.88m, wingtip chord length 0.44m, 0.63m high, 40 ° of leading edge sweep, the wing afterbody that hangs down are provided with rudder.
Two arms that vert be can tilted propeller supporting mechanism, its section is the spindle of big thickness, and length is more than inclining The radius of rotating propeller, axis is parallel with OY axles (body axis system OXYZ is American-European coordinate system), is symmetrically mounted on waist Forward position, between canard and wing, can synchronize with tilted propeller and vert.Two can tilted propeller installation It is six leaf oars at the two ends for verting arm, with pitch-setting mechanism, oar disk diameter 1.2m, rotation axis is symmetrically put down apart from fuselage Face 0.95m, propeller and the arm that verts synchronously can be verted between 0 ° and 90 °, so that propeller is providing VTOL Changed between lift and horizontal flight pulling force.Two can tilted propeller it is counter-rotation through transmission system drives by engine, from And offset driving torque;In aircraft vertical landing, can tilted propeller Plane of rotation it is parallel with OXY planes, its pulling force use In the gravity for overcoming aircraft;When aircraft cruises as fixed-wing, propeller Plane of rotation goes to, its drawing parallel with OYZ planes Power is used to provide thrust when flying before aircraft;In changeover portion, propeller around vert arm axle line between 0 degree to 90 degree (definition with It is 0 degree that Plane of rotation is parallel with OYZ planes, and parallel with OXY planes is 90 degree) rotation;Propeller now both provides a part Lift, provides a part of thrust again.
Deflectable tail-rotor is arranged on afterbody, and separate electrical motor drives, and rotation axis is parallel with OYZ planes, produces upward Pulling force.Deflectable tail-rotor is four leaf oars, and with pitch-setting mechanism, a diameter of 0.3m of oar disk can be around fuselage datum or so partially Turn 10 °, so as to form certain horizontal pull, and then the yawing around center of gravity is formed to fuselage, enter in the VTOL stage The yawing rotation control of row aircraft.
The flight course and control method of aircraft be:
When taking off, can tilted propeller be tilted to Plane of rotation and body axis system OXY plane parallel positions, tail-rotor In Plane of rotation and body axis system OXY plane parallel positions, engine driving can tilted propeller rotation, motor driving tail Oar rotates, can tilted propeller rotation increases pitch and produces pulling force needed for most of VTOL, afterbody tail-rotor to produce simultaneously at a high speed Raw remaining required pulling force, aircraft vertical takes off.
In take-off process, by change both sides can tilted propeller pitch, formed pulling force difference and around the rolling of center of gravity Torque, carries out the rolling control of aircraft;By changing the pitch of tail-rotor, realize changing the upward pulling force of tail-rotor generation and around center of gravity Pitching moment size, carry out the pitch control of aircraft;Deflected around fuselage datum by by tail-rotor, form horizontal component, carried out The driftage control of aircraft.
After aircraft is liftoff reaches safe altitude, control can tilted propeller tilt forward, form horizontal pull forward, Aircraft starts flight forward, and canard and wing produce lift, into transfer process;With can tilted propeller tilt forward angle Increase, horizontal pull increase forward, the increase of aircraft forward flight speed, canard and wing produce lift increase;When aircraft accelerates to reach To and more than after conversion speed, transfer process is completed, and can tilted propeller be tilted to Plane of rotation and put down with body axis system OYZ Face is parallel, and the pulling force of horizontal flight is provided completely, and tail-rotor is stalled, and into fixed-wing offline mode, canard and wing can be produced Whole lift and controling power needed for aircraft controllable flight, aircraft appearance is carried out by the control rudder face on canard, wing and vertical fin State is controlled.
When aircraft needs landing, control can tilted propeller reduction forward flight speed, when forward flight speed, to be reduced to certain big When the setting value of conversion speed, tail-rotor start rotation, control can tilted propeller vert upwards, forward flight speed further drops It is low, by canard and airfoil lift, can tilted propeller pulling force upward component and tail-rotor pulling force keep aircraft vertical direction to draw Power;When can tilted propeller vert to Plane of rotation and body axis system OXY plane parallel positions, forward flight speed is reduced to 0, enters Enter the vertical landing stage.
In the vertical landing stage, by change both sides can tilted propeller pitch, form pulling force difference and around the rolling of center of gravity Torque, carries out the rolling control of aircraft;By changing the pitch of tail-rotor, realize changing the upward pulling force of tail-rotor generation and around weight The pitching moment size of the heart, carries out the pitch control of aircraft;Deflected around fuselage datum by by tail-rotor, form horizontal component, entered The driftage control of row aircraft.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from principle of the invention and objective In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.

Claims (3)

1. a kind of tilted propeller can VTOL high-speed aircraft, including fuselage, wing, vertical fin are provided with hair in fuselage Motivation and transmission system;It is characterized in that:Fuselage head is provided with canard, and canard is arranged using lower single-blade, with leading-edge sweep Angle;The forward position of afterbody is provided with wing, and wing is arranged and with leading edge sweepforward angle using high mounted wing;Vertical fin is installed on machine Body upper rear, with leading edge sweep;
The high-speed aircraft also includes two arms that vert, two tilted propellers and a tail-rotors;The arm that verts is the spiral shell that can vert The supporting mechanism of oar is revolved, tilted propeller is arranged on arm outer end of verting;Arm section vert for spindle, arm lengths of verting are more than inclines The radius of rotating propeller, axis is parallel with body axis system OY axles, and two arms that vert are symmetrically mounted on the forward position of waist Both sides, between canard and wing, the arm that verts can vert together with tilted propeller around arm axle line locking of verting;Two can incline Rotating propeller can be counter-rotation through transmission system drives by engine, and tail-rotor is arranged on afterbody, is driven using separate electrical motor Dynamic, tail-rotor rotation axis is parallel with body axis system OYZ planes, produces upward pulling force, and tail-rotor can be left around fuselage datum Right avertence turns.
2. according to claim 1 a kind of tilted propeller can VTOL high-speed aircraft, it is characterised in that:The machine Body section is the square of four rounding of angle, and fuselage head and afterbody shrink to form nose cone and tail cone.
3. a kind of tilted propeller can VTOL high-speed aircraft control method, it is characterised in that:
When taking off, can tilted propeller be tilted to Plane of rotation and body axis system OXY plane parallel positions, tail-rotor is in Plane of rotation and body axis system OXY plane parallel positions, engine driving can tilted propeller rotations, motor driving tail-rotor rotation Turn, can tilted propeller and tail-rotor produce pulling force needed for VTOL, aircraft vertical to take off;
In take-off process, by change both sides can tilted propeller pitch, formed pulling force difference and around the rolling moment of center of gravity, Carry out the rolling control of aircraft;By changing the pitch of tail-rotor, realize changing upward pulling force and the bowing around center of gravity that tail-rotor is produced Torque size is faced upward, the pitch control of aircraft is carried out;Deflected around fuselage datum by by tail-rotor, form horizontal component, carry out aircraft Driftage control;
After aircraft is liftoff reaches safe altitude, control can tilted propeller tilt forward, form horizontal pull forward, aircraft Start flight forward, canard and wing produce lift, into transfer process;With can tilted propeller tilt forward angle increase Greatly, horizontal pull increase forward, the increase of aircraft forward flight speed, canard and wing produce lift increase;When aircraft accelerates to reach After more than conversion speed, transfer process is completed, and can tilted propeller be tilted to Plane of rotation and body axis system OYZ planes It is parallel, the pulling force of horizontal flight, tail-rotor stalling, into fixed-wing offline mode, by canard, wing and vertical fin are provided completely Control rudder face carry out aspect control;
When aircraft need landing when, control can tilted propeller reduction forward flight speed, when forward flight speed be reduced to certain more than turn During the setting value of throw-over degree, tail-rotor start rotation, control can tilted propeller vert upwards, forward flight speed is further reduced, lead to Cross canard and airfoil lift, can tilted propeller pulling force upward component and tail-rotor pulling force keep aircraft vertical direction pulling force;When Can tilted propeller vert to Plane of rotation and body axis system OXY plane parallel positions, forward flight speed is reduced to 0, into hanging down Straight landing period;
In the vertical landing stage, by change both sides can tilted propeller pitch, form pulling force difference and around the rolling power of center of gravity Square, carries out the rolling control of aircraft;By changing the pitch of tail-rotor, realize changing the upward pulling force of tail-rotor generation and around center of gravity Pitching moment size, carries out the pitch control of aircraft;Deflected around fuselage datum by by tail-rotor, form horizontal component, flown The driftage control of machine.
CN201710152468.6A 2017-03-15 2017-03-15 A kind of tilted propeller can VTOL high-speed aircraft and its flight control method Pending CN106828915A (en)

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CN108639332A (en) * 2018-06-12 2018-10-12 中国科学院工程热物理研究所 The compound multi-modal flight control method of three rotor wing unmanned aerial vehicles
CN108845581A (en) * 2018-06-12 2018-11-20 中国科学院工程热物理研究所 The compound multi-modal flight control method of quadrotor drone
CN109407692A (en) * 2017-08-17 2019-03-01 西安羚控电子科技有限公司 Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode
CN109878703A (en) * 2019-03-13 2019-06-14 南京灵龙旋翼无人机系统研究院有限公司 The control distribution method of rotary-wing aircraft multi-modes
US10464668B2 (en) 2015-09-02 2019-11-05 Jetoptera, Inc. Configuration for vertical take-off and landing system for aerial vehicles
CN110466752A (en) * 2019-08-07 2019-11-19 深圳市道通智能航空技术有限公司 A kind of control method and tilting rotor wing unmanned aerial vehicle of tilting rotor wing unmanned aerial vehicle
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US11001378B2 (en) 2016-08-08 2021-05-11 Jetoptera, Inc. Configuration for vertical take-off and landing system for aerial vehicles
US11148801B2 (en) 2017-06-27 2021-10-19 Jetoptera, Inc. Configuration for vertical take-off and landing system for aerial vehicles
WO2021238637A1 (en) * 2020-05-27 2021-12-02 高文 Sickle-winged vertical take-off and landing aircraft
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* Cited by examiner, † Cited by third party
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US10464668B2 (en) 2015-09-02 2019-11-05 Jetoptera, Inc. Configuration for vertical take-off and landing system for aerial vehicles
US10875658B2 (en) 2015-09-02 2020-12-29 Jetoptera, Inc. Ejector and airfoil configurations
US11001378B2 (en) 2016-08-08 2021-05-11 Jetoptera, Inc. Configuration for vertical take-off and landing system for aerial vehicles
US11148801B2 (en) 2017-06-27 2021-10-19 Jetoptera, Inc. Configuration for vertical take-off and landing system for aerial vehicles
CN109407692A (en) * 2017-08-17 2019-03-01 西安羚控电子科技有限公司 Vert Yaw control method under VTOL fixed-wing unmanned plane rotor mode
CN108190012B (en) * 2018-01-26 2021-02-26 深圳一电航空技术有限公司 Aircraft and control method thereof
CN108190012A (en) * 2018-01-26 2018-06-22 深圳电航空技术有限公司 Aircraft and its control method
CN108639332A (en) * 2018-06-12 2018-10-12 中国科学院工程热物理研究所 The compound multi-modal flight control method of three rotor wing unmanned aerial vehicles
CN108845581A (en) * 2018-06-12 2018-11-20 中国科学院工程热物理研究所 The compound multi-modal flight control method of quadrotor drone
CN109878703A (en) * 2019-03-13 2019-06-14 南京灵龙旋翼无人机系统研究院有限公司 The control distribution method of rotary-wing aircraft multi-modes
CN109878703B (en) * 2019-03-13 2022-05-24 南京灵龙旋翼无人机系统研究院有限公司 Control distribution method for multi-mode switching of rotary wing aircraft
CN110466752A (en) * 2019-08-07 2019-11-19 深圳市道通智能航空技术有限公司 A kind of control method and tilting rotor wing unmanned aerial vehicle of tilting rotor wing unmanned aerial vehicle
WO2021238637A1 (en) * 2020-05-27 2021-12-02 高文 Sickle-winged vertical take-off and landing aircraft
CN111942581A (en) * 2020-07-27 2020-11-17 西北工业大学 Distributed lift force duck-type layout vertical take-off and landing unmanned aerial vehicle and control method
CN112173143A (en) * 2020-09-25 2021-01-05 中国直升机设计研究所 Emergency substitution device for helicopter tail rotor in failure state and control method
CN112644684A (en) * 2020-12-23 2021-04-13 河北利翔航空科技有限公司 Unmanned conveyer with duck wing and forward swept wing
CN112498660A (en) * 2020-12-24 2021-03-16 中国直升机设计研究所 Duck wing high-speed tilt rotor aircraft and control method thereof
CN113859518A (en) * 2021-10-28 2021-12-31 南京晓航机器人科技有限公司 Multi-rotor unmanned aerial vehicle and method for improving speed and endurance

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